APF-IRRT*: An Improved Informed Rapidly-Exploring Random Trees-Star Algorithm by Introducing Artificial Potential Field Method for Mobile Robot Path Planning

Effective improved artificial potential field-based regression search method for autonomous mobile robot path planning

This paper presents an effective improved artificial potential field-based regression search (improved APF-based RS) method that can obtain a better and shorter path efficiently without local minima and oscillations in an environment including known, partially known or unknown, static, and dynamic environments. We redefine potential functions to eliminate oscillations and local minima problems,...

Rapidly-Exploring Random Trees: A New Tool for Path Planning

Robotic Path Planning using Rapidly exploring Random Trees

Rapidly exploring Random Tree (RRT) path planning methods provide feasible paths between a start and goal point in configuration spaces containing obstacles, sacrificing optimality (eg. Shortest path) for speed. The raw resultant paths are generally jagged and the cost of extending the tree can increase steeply as the number of existing branches grow. This paper provides details of a speed-up m...

Path Planning of Mobile Robot Using Fuzzy - Potential Field Method

This paper deals with the navigation of a mobile robot in unknown environment using artificial potential field method. The aim of this paper is to develop a complete method that allows the mobile robot to reach its goal while avoiding unknown obstacles on its path. An approach proposed is introduced in this paper based on combing the artificial potential field method with fuzzy logic controller...

Mobile Robot Path Planning Based on Dynamic Fuzzy Artificial Potential Field Method

Traditional artificial potential field method has the problem of local minimum and can not satisfy the requirements of real-time mobile robot path planning, security and accessibility in dynamic environment. To deal with the problems, through taking the advantage of velocity vector, modifying potential field force function, and integrating with the fuzzy control method, adjusting the factors of...